Abstract: Systems and methods for spatially modeling a three-dimensional object are disclosed. In some embodiments, a disclosed method comprises: obtaining a polygon mesh including polygons representing a surface of an object; converting the polygon mesh into a triangle mesh including first triangles; subdividing the triangle mesh into a subdivided triangle mesh including second triangles, wherein the subdivided triangle mesh is overlaid with a voxel grid including a set of voxels; generating a point collection including a plurality of points each corresponding to a voxel in the voxel grid; and generating, based on the point collection and the voxel grid, at least one of: a surface point cloud representation, a surface voxel representation, or a volume voxel representation of the object.

Abstract: Systems and methods for sensor registration for a workcell including a floor are disclosed. In some embodiments, a disclosed method comprises: disposing a plurality of three dimensional (3D) image sensors proximate to the workcell; acquiring, with the plurality of 3D image sensors, a plurality of 3D images of the workcell, wherein at least one of the plurality of 3D images includes at least a portion of the floor; determining, based on a first user selection of a region of a first image of the plurality of 3D images of the workcell, a first floor point indicating a first portion of the floor in the first image; computing a first floor plane representing the floor based on the first floor point; and registering the 3D image sensors to each other and to the workcell based at least in part on the plurality of 3D images and the first floor plane.